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<div class="title">ImuSimulator.h</div>  </div>
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<a href="../../d2/da4/_imu_simulator_8h.html">Go to the documentation of this file.</a><div class="fragment"><div class="line"><a name="l00001"></a><span class="lineno">    1</span>&#160;</div><div class="line"><a name="l00005"></a><span class="lineno">    5</span>&#160;<span class="preprocessor">#ifndef PROJECT_IMUSIMULATOR_H</span></div><div class="line"><a name="l00006"></a><span class="lineno">    6</span>&#160;<span class="preprocessor">#define PROJECT_IMUSIMULATOR_H</span></div><div class="line"><a name="l00007"></a><span class="lineno">    7</span>&#160;</div><div class="line"><a name="l00008"></a><span class="lineno">    8</span>&#160;<span class="preprocessor">#include &quot;<a class="code" href="../../d2/dc1/_simulator_parameters_8h.html">ControlParameters/SimulatorParameters.h</a>&quot;</span></div><div class="line"><a name="l00009"></a><span class="lineno">    9</span>&#160;<span class="preprocessor">#include &quot;<a class="code" href="../../d5/d9a/_floating_base_model_8h.html">Dynamics/FloatingBaseModel.h</a>&quot;</span></div><div class="line"><a name="l00010"></a><span class="lineno">   10</span>&#160;<span class="preprocessor">#include &quot;<a class="code" href="../../d0/df2/_i_m_u_types_8h.html">SimUtilities/IMUTypes.h</a>&quot;</span></div><div class="line"><a name="l00011"></a><span class="lineno">   11</span>&#160;<span class="preprocessor">#include &quot;<a class="code" href="../../d9/d8e/cpp_types_8h.html">cppTypes.h</a>&quot;</span></div><div class="line"><a name="l00012"></a><span class="lineno">   12</span>&#160;</div><div class="line"><a name="l00013"></a><span class="lineno">   13</span>&#160;<span class="preprocessor">#include &lt;random&gt;</span></div><div class="line"><a name="l00014"></a><span class="lineno">   14</span>&#160;</div><div class="line"><a name="l00015"></a><span class="lineno">   15</span>&#160;<span class="keyword">template</span> &lt;<span class="keyword">typename</span> T&gt;</div><div class="line"><a name="l00016"></a><span class="lineno"><a class="line" href="../../d8/da4/class_imu_simulator.html">   16</a></span>&#160;<span class="keyword">class </span><a class="code" href="../../d8/da4/class_imu_simulator.html">ImuSimulator</a> {</div><div class="line"><a name="l00017"></a><span class="lineno">   17</span>&#160; <span class="keyword">public</span>:</div><div class="line"><a name="l00018"></a><span class="lineno"><a class="line" href="../../d8/da4/class_imu_simulator.html#a972dc9977317fddee5c839bdf40841ba">   18</a></span>&#160;  <span class="keyword">explicit</span> <a class="code" href="../../d8/da4/class_imu_simulator.html#a972dc9977317fddee5c839bdf40841ba">ImuSimulator</a>(<a class="code" href="../../da/dcf/class_simulator_control_parameters.html">SimulatorControlParameters</a>&amp; simSettings, <a class="code" href="../../d0/d99/c_types_8h.html#a3f7e2bcbb0b4c338f3c4f6c937cd4234">u64</a> seed = 0)</div><div class="line"><a name="l00019"></a><span class="lineno">   19</span>&#160;      : <a class="code" href="../../d8/da4/class_imu_simulator.html#a7a7e8ca94a157398db9fdc3a7faf6042">_simSettings</a>(simSettings),</div><div class="line"><a name="l00020"></a><span class="lineno">   20</span>&#160;        <a class="code" href="../../d8/da4/class_imu_simulator.html#adcd731a7ba6e538479a5e6926d4b1c33">_mt</a>(seed),</div><div class="line"><a name="l00021"></a><span class="lineno">   21</span>&#160;        <a class="code" href="../../d8/da4/class_imu_simulator.html#a72ab380a1b7c8ac89c97b3f6891988fa">_vectornavGyroDistribution</a>(-simSettings.vectornav_imu_gyro_noise,</div><div class="line"><a name="l00022"></a><span class="lineno">   22</span>&#160;                                   simSettings.vectornav_imu_gyro_noise),</div><div class="line"><a name="l00023"></a><span class="lineno">   23</span>&#160;        <a class="code" href="../../d8/da4/class_imu_simulator.html#aac0ae5781d522baef79cfadcb7341429">_vectornavAccelerometerDistribution</a>(</div><div class="line"><a name="l00024"></a><span class="lineno">   24</span>&#160;            -simSettings.vectornav_imu_accelerometer_noise,</div><div class="line"><a name="l00025"></a><span class="lineno">   25</span>&#160;            simSettings.vectornav_imu_accelerometer_noise),</div><div class="line"><a name="l00026"></a><span class="lineno">   26</span>&#160;        <a class="code" href="../../d8/da4/class_imu_simulator.html#ad3f9abda52168d652c9f93bb3eeac435">_vectornavQuatDistribution</a>(-simSettings.vectornav_imu_quat_noise,</div><div class="line"><a name="l00027"></a><span class="lineno">   27</span>&#160;                                   simSettings.vectornav_imu_quat_noise) {</div><div class="line"><a name="l00028"></a><span class="lineno">   28</span>&#160;    <span class="keywordflow">if</span> (simSettings.vectornav_imu_quat_noise != 0) {</div><div class="line"><a name="l00029"></a><span class="lineno">   29</span>&#160;      <a class="code" href="../../d8/da4/class_imu_simulator.html#a24f248906c0b8d413b10c6a4f824ecee">_vectorNavOrientationNoise</a> = <span class="keyword">true</span>;</div><div class="line"><a name="l00030"></a><span class="lineno">   30</span>&#160;    }</div><div class="line"><a name="l00031"></a><span class="lineno">   31</span>&#160;  }</div><div class="line"><a name="l00032"></a><span class="lineno">   32</span>&#160;</div><div class="line"><a name="l00033"></a><span class="lineno">   33</span>&#160;  <span class="keywordtype">void</span> <a class="code" href="../../d8/da4/class_imu_simulator.html#a1c6eaa5dfe26a97bdfeec6b58cad0ad4">updateVectornav</a>(<span class="keyword">const</span> <a class="code" href="../../de/d75/struct_f_b_model_state.html">FBModelState&lt;T&gt;</a>&amp; robotState,</div><div class="line"><a name="l00034"></a><span class="lineno">   34</span>&#160;                       <span class="keyword">const</span> <a class="code" href="../../de/dce/struct_f_b_model_state_derivative.html">FBModelStateDerivative&lt;T&gt;</a>&amp; robotStateD,</div><div class="line"><a name="l00035"></a><span class="lineno">   35</span>&#160;                       <a class="code" href="../../df/d06/struct_vector_nav_data.html">VectorNavData</a>* data);</div><div class="line"><a name="l00036"></a><span class="lineno">   36</span>&#160;</div><div class="line"><a name="l00037"></a><span class="lineno">   37</span>&#160;</div><div class="line"><a name="l00038"></a><span class="lineno">   38</span>&#160;  <span class="keywordtype">void</span> <a class="code" href="../../d8/da4/class_imu_simulator.html#a0eceeee2f45b6d659e1f2a32fb1e6947">computeAcceleration</a>(<span class="keyword">const</span> <a class="code" href="../../de/d75/struct_f_b_model_state.html">FBModelState&lt;T&gt;</a>&amp; robotState,</div><div class="line"><a name="l00039"></a><span class="lineno">   39</span>&#160;                           <span class="keyword">const</span> <a class="code" href="../../de/dce/struct_f_b_model_state_derivative.html">FBModelStateDerivative&lt;T&gt;</a>&amp; robotStateD,</div><div class="line"><a name="l00040"></a><span class="lineno">   40</span>&#160;                           <a class="code" href="../../d9/d8e/cpp_types_8h.html#a6f07728c866b15ff0676a9b2ebfd2ba6">Vec3&lt;float&gt;</a>&amp; acc,</div><div class="line"><a name="l00041"></a><span class="lineno">   41</span>&#160;                           std::uniform_real_distribution&lt;float&gt;&amp; dist,</div><div class="line"><a name="l00042"></a><span class="lineno">   42</span>&#160;                           <span class="keyword">const</span> <a class="code" href="../../d9/d8e/cpp_types_8h.html#a0b83d93a3c74d282558436e26c056896">RotMat&lt;float&gt;</a>&amp; R_body);</div><div class="line"><a name="l00043"></a><span class="lineno">   43</span>&#160;</div><div class="line"><a name="l00044"></a><span class="lineno">   44</span>&#160;  <span class="keywordtype">void</span> <a class="code" href="../../d8/da4/class_imu_simulator.html#aadd00de99602f7c66cba555527bf3294">updateCheaterState</a>(<span class="keyword">const</span> <a class="code" href="../../de/d75/struct_f_b_model_state.html">FBModelState&lt;T&gt;</a>&amp; robotState,</div><div class="line"><a name="l00045"></a><span class="lineno">   45</span>&#160;                          <span class="keyword">const</span> <a class="code" href="../../de/dce/struct_f_b_model_state_derivative.html">FBModelStateDerivative&lt;T&gt;</a>&amp; robotStateD,</div><div class="line"><a name="l00046"></a><span class="lineno">   46</span>&#160;                          <a class="code" href="../../d2/d3e/struct_cheater_state.html">CheaterState&lt;T&gt;</a>&amp; state);</div><div class="line"><a name="l00047"></a><span class="lineno">   47</span>&#160;</div><div class="line"><a name="l00048"></a><span class="lineno">   48</span>&#160; <span class="keyword">private</span>:</div><div class="line"><a name="l00049"></a><span class="lineno"><a class="line" href="../../d8/da4/class_imu_simulator.html#a7a7e8ca94a157398db9fdc3a7faf6042">   49</a></span>&#160;  <a class="code" href="../../da/dcf/class_simulator_control_parameters.html">SimulatorControlParameters</a>&amp; <a class="code" href="../../d8/da4/class_imu_simulator.html#a7a7e8ca94a157398db9fdc3a7faf6042">_simSettings</a>;</div><div class="line"><a name="l00050"></a><span class="lineno"><a class="line" href="../../d8/da4/class_imu_simulator.html#adcd731a7ba6e538479a5e6926d4b1c33">   50</a></span>&#160;  std::mt19937 <a class="code" href="../../d8/da4/class_imu_simulator.html#adcd731a7ba6e538479a5e6926d4b1c33">_mt</a>;</div><div class="line"><a name="l00051"></a><span class="lineno"><a class="line" href="../../d8/da4/class_imu_simulator.html#a72ab380a1b7c8ac89c97b3f6891988fa">   51</a></span>&#160;  std::uniform_real_distribution&lt;float&gt; <a class="code" href="../../d8/da4/class_imu_simulator.html#a72ab380a1b7c8ac89c97b3f6891988fa">_vectornavGyroDistribution</a>;</div><div class="line"><a name="l00052"></a><span class="lineno"><a class="line" href="../../d8/da4/class_imu_simulator.html#aac0ae5781d522baef79cfadcb7341429">   52</a></span>&#160;  std::uniform_real_distribution&lt;float&gt; <a class="code" href="../../d8/da4/class_imu_simulator.html#aac0ae5781d522baef79cfadcb7341429">_vectornavAccelerometerDistribution</a>;</div><div class="line"><a name="l00053"></a><span class="lineno"><a class="line" href="../../d8/da4/class_imu_simulator.html#ad3f9abda52168d652c9f93bb3eeac435">   53</a></span>&#160;  std::uniform_real_distribution&lt;float&gt; <a class="code" href="../../d8/da4/class_imu_simulator.html#ad3f9abda52168d652c9f93bb3eeac435">_vectornavQuatDistribution</a>;</div><div class="line"><a name="l00054"></a><span class="lineno"><a class="line" href="../../d8/da4/class_imu_simulator.html#a24f248906c0b8d413b10c6a4f824ecee">   54</a></span>&#160;  <span class="keywordtype">bool</span> <a class="code" href="../../d8/da4/class_imu_simulator.html#a24f248906c0b8d413b10c6a4f824ecee">_vectorNavOrientationNoise</a> = <span class="keyword">false</span>;</div><div class="line"><a name="l00055"></a><span class="lineno">   55</span>&#160;};</div><div class="line"><a name="l00056"></a><span class="lineno">   56</span>&#160;<span class="preprocessor">#endif  // PROJECT_IMUSIMULATOR_H</span></div><div class="ttc" id="class_imu_simulator_html_ad3f9abda52168d652c9f93bb3eeac435"><div class="ttname"><a href="../../d8/da4/class_imu_simulator.html#ad3f9abda52168d652c9f93bb3eeac435">ImuSimulator::_vectornavQuatDistribution</a></div><div class="ttdeci">std::uniform_real_distribution&lt; float &gt; _vectornavQuatDistribution</div><div class="ttdef"><b>Definition:</b> <a href="../../d2/da4/_imu_simulator_8h_source.html#l00053">ImuSimulator.h:53</a></div></div>
<div class="ttc" id="class_imu_simulator_html_aadd00de99602f7c66cba555527bf3294"><div class="ttname"><a href="../../d8/da4/class_imu_simulator.html#aadd00de99602f7c66cba555527bf3294">ImuSimulator::updateCheaterState</a></div><div class="ttdeci">void updateCheaterState(const FBModelState&lt; T &gt; &amp;robotState, const FBModelStateDerivative&lt; T &gt; &amp;robotStateD, CheaterState&lt; T &gt; &amp;state)</div><div class="ttdef"><b>Definition:</b> <a href="../../d3/d6a/_imu_simulator_8cpp_source.html#l00074">ImuSimulator.cpp:74</a></div></div>
<div class="ttc" id="class_imu_simulator_html_a972dc9977317fddee5c839bdf40841ba"><div class="ttname"><a href="../../d8/da4/class_imu_simulator.html#a972dc9977317fddee5c839bdf40841ba">ImuSimulator::ImuSimulator</a></div><div class="ttdeci">ImuSimulator(SimulatorControlParameters &amp;simSettings, u64 seed=0)</div><div class="ttdef"><b>Definition:</b> <a href="../../d2/da4/_imu_simulator_8h_source.html#l00018">ImuSimulator.h:18</a></div></div>
<div class="ttc" id="class_imu_simulator_html_a7a7e8ca94a157398db9fdc3a7faf6042"><div class="ttname"><a href="../../d8/da4/class_imu_simulator.html#a7a7e8ca94a157398db9fdc3a7faf6042">ImuSimulator::_simSettings</a></div><div class="ttdeci">SimulatorControlParameters &amp; _simSettings</div><div class="ttdef"><b>Definition:</b> <a href="../../d2/da4/_imu_simulator_8h_source.html#l00049">ImuSimulator.h:49</a></div></div>
<div class="ttc" id="class_imu_simulator_html_a24f248906c0b8d413b10c6a4f824ecee"><div class="ttname"><a href="../../d8/da4/class_imu_simulator.html#a24f248906c0b8d413b10c6a4f824ecee">ImuSimulator::_vectorNavOrientationNoise</a></div><div class="ttdeci">bool _vectorNavOrientationNoise</div><div class="ttdef"><b>Definition:</b> <a href="../../d2/da4/_imu_simulator_8h_source.html#l00054">ImuSimulator.h:54</a></div></div>
<div class="ttc" id="cpp_types_8h_html_a6f07728c866b15ff0676a9b2ebfd2ba6"><div class="ttname"><a href="../../d9/d8e/cpp_types_8h.html#a6f07728c866b15ff0676a9b2ebfd2ba6">Vec3</a></div><div class="ttdeci">typename Eigen::Matrix&lt; T, 3, 1 &gt; Vec3</div><div class="ttdef"><b>Definition:</b> <a href="../../d9/d8e/cpp_types_8h_source.html#l00026">cppTypes.h:26</a></div></div>
<div class="ttc" id="cpp_types_8h_html"><div class="ttname"><a href="../../d9/d8e/cpp_types_8h.html">cppTypes.h</a></div></div>
<div class="ttc" id="struct_vector_nav_data_html"><div class="ttname"><a href="../../df/d06/struct_vector_nav_data.html">VectorNavData</a></div><div class="ttdef"><b>Definition:</b> <a href="../../d0/df2/_i_m_u_types_8h_source.html#l00013">IMUTypes.h:13</a></div></div>
<div class="ttc" id="class_imu_simulator_html_a1c6eaa5dfe26a97bdfeec6b58cad0ad4"><div class="ttname"><a href="../../d8/da4/class_imu_simulator.html#a1c6eaa5dfe26a97bdfeec6b58cad0ad4">ImuSimulator::updateVectornav</a></div><div class="ttdeci">void updateVectornav(const FBModelState&lt; T &gt; &amp;robotState, const FBModelStateDerivative&lt; T &gt; &amp;robotStateD, VectorNavData *data)</div><div class="ttdef"><b>Definition:</b> <a href="../../d3/d6a/_imu_simulator_8cpp_source.html#l00028">ImuSimulator.cpp:28</a></div></div>
<div class="ttc" id="struct_cheater_state_html"><div class="ttname"><a href="../../d2/d3e/struct_cheater_state.html">CheaterState</a></div><div class="ttdef"><b>Definition:</b> <a href="../../d0/df2/_i_m_u_types_8h_source.html#l00021">IMUTypes.h:21</a></div></div>
<div class="ttc" id="struct_f_b_model_state_html"><div class="ttname"><a href="../../de/d75/struct_f_b_model_state.html">FBModelState</a></div><div class="ttdef"><b>Definition:</b> <a href="../../d5/d9a/_floating_base_model_8h_source.html#l00038">FloatingBaseModel.h:38</a></div></div>
<div class="ttc" id="_simulator_parameters_8h_html"><div class="ttname"><a href="../../d2/dc1/_simulator_parameters_8h.html">SimulatorParameters.h</a></div></div>
<div class="ttc" id="class_imu_simulator_html_a72ab380a1b7c8ac89c97b3f6891988fa"><div class="ttname"><a href="../../d8/da4/class_imu_simulator.html#a72ab380a1b7c8ac89c97b3f6891988fa">ImuSimulator::_vectornavGyroDistribution</a></div><div class="ttdeci">std::uniform_real_distribution&lt; float &gt; _vectornavGyroDistribution</div><div class="ttdef"><b>Definition:</b> <a href="../../d2/da4/_imu_simulator_8h_source.html#l00051">ImuSimulator.h:51</a></div></div>
<div class="ttc" id="class_imu_simulator_html_aac0ae5781d522baef79cfadcb7341429"><div class="ttname"><a href="../../d8/da4/class_imu_simulator.html#aac0ae5781d522baef79cfadcb7341429">ImuSimulator::_vectornavAccelerometerDistribution</a></div><div class="ttdeci">std::uniform_real_distribution&lt; float &gt; _vectornavAccelerometerDistribution</div><div class="ttdef"><b>Definition:</b> <a href="../../d2/da4/_imu_simulator_8h_source.html#l00052">ImuSimulator.h:52</a></div></div>
<div class="ttc" id="class_imu_simulator_html_adcd731a7ba6e538479a5e6926d4b1c33"><div class="ttname"><a href="../../d8/da4/class_imu_simulator.html#adcd731a7ba6e538479a5e6926d4b1c33">ImuSimulator::_mt</a></div><div class="ttdeci">std::mt19937 _mt</div><div class="ttdef"><b>Definition:</b> <a href="../../d2/da4/_imu_simulator_8h_source.html#l00050">ImuSimulator.h:50</a></div></div>
<div class="ttc" id="struct_f_b_model_state_derivative_html"><div class="ttname"><a href="../../de/dce/struct_f_b_model_state_derivative.html">FBModelStateDerivative</a></div><div class="ttdef"><b>Definition:</b> <a href="../../d5/d9a/_floating_base_model_8h_source.html#l00057">FloatingBaseModel.h:57</a></div></div>
<div class="ttc" id="class_simulator_control_parameters_html"><div class="ttname"><a href="../../da/dcf/class_simulator_control_parameters.html">SimulatorControlParameters</a></div><div class="ttdef"><b>Definition:</b> <a href="../../d2/dc1/_simulator_parameters_8h_source.html#l00018">SimulatorParameters.h:18</a></div></div>
<div class="ttc" id="c_types_8h_html_a3f7e2bcbb0b4c338f3c4f6c937cd4234"><div class="ttname"><a href="../../d0/d99/c_types_8h.html#a3f7e2bcbb0b4c338f3c4f6c937cd4234">u64</a></div><div class="ttdeci">uint64_t u64</div><div class="ttdef"><b>Definition:</b> <a href="../../d0/d99/c_types_8h_source.html#l00017">cTypes.h:17</a></div></div>
<div class="ttc" id="class_imu_simulator_html_a0eceeee2f45b6d659e1f2a32fb1e6947"><div class="ttname"><a href="../../d8/da4/class_imu_simulator.html#a0eceeee2f45b6d659e1f2a32fb1e6947">ImuSimulator::computeAcceleration</a></div><div class="ttdeci">void computeAcceleration(const FBModelState&lt; T &gt; &amp;robotState, const FBModelStateDerivative&lt; T &gt; &amp;robotStateD, Vec3&lt; float &gt; &amp;acc, std::uniform_real_distribution&lt; float &gt; &amp;dist, const RotMat&lt; float &gt; &amp;R_body)</div><div class="ttdef"><b>Definition:</b> <a href="../../d3/d6a/_imu_simulator_8cpp_source.html#l00010">ImuSimulator.cpp:10</a></div></div>
<div class="ttc" id="_i_m_u_types_8h_html"><div class="ttname"><a href="../../d0/df2/_i_m_u_types_8h.html">IMUTypes.h</a></div><div class="ttdoc">Data from IMUs. </div></div>
<div class="ttc" id="class_imu_simulator_html"><div class="ttname"><a href="../../d8/da4/class_imu_simulator.html">ImuSimulator</a></div><div class="ttdef"><b>Definition:</b> <a href="../../d2/da4/_imu_simulator_8h_source.html#l00016">ImuSimulator.h:16</a></div></div>
<div class="ttc" id="cpp_types_8h_html_a0b83d93a3c74d282558436e26c056896"><div class="ttname"><a href="../../d9/d8e/cpp_types_8h.html#a0b83d93a3c74d282558436e26c056896">RotMat</a></div><div class="ttdeci">typename Eigen::Matrix&lt; T, 3, 3 &gt; RotMat</div><div class="ttdef"><b>Definition:</b> <a href="../../d9/d8e/cpp_types_8h_source.html#l00018">cppTypes.h:18</a></div></div>
<div class="ttc" id="_floating_base_model_8h_html"><div class="ttname"><a href="../../d5/d9a/_floating_base_model_8h.html">FloatingBaseModel.h</a></div><div class="ttdoc">Implementation of Rigid Body Floating Base model data structure. </div></div>
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